Towards Next-Generation SLAM: A Survey on 3DGS-SLAM Focusing on Performance, Robustness, and Future Directions
🤖 AI Summary
This work addresses the limitations of traditional SLAM systems in rendering quality, fine detail recovery, and robustness in dynamic environments. It presents the first systematic survey of key techniques integrating 3D Gaussian Splatting (3DGS) with SLAM, establishing a comprehensive evaluation framework that encompasses rendering fidelity, tracking accuracy, reconstruction speed, and memory consumption. Furthermore, the study proposes novel strategies to enhance robustness against motion blur and dynamic scene content. By leveraging the explicit, high-fidelity scene representation offered by 3DGS within a SLAM pipeline, this research provides both a technical pathway and theoretical foundation for developing next-generation SLAM systems that are efficient, highly accurate, and resilient in complex real-world conditions.
Application Category
📝 Abstract
Traditional Simultaneous Localization and Mapping (SLAM) systems often face limitations including coarse rendering quality, insufficient recovery of scene details, and poor robustness in dynamic environments. 3D Gaussian Splatting (3DGS), with its efficient explicit representation and high-quality rendering capabilities, offers a new reconstruction paradigm for SLAM. This survey comprehensively reviews key technical approaches for integrating 3DGS with SLAM. We analyze performance optimization of representative methods across four critical dimensions: rendering quality, tracking accuracy, reconstruction speed, and memory consumption, delving into their design principles and breakthroughs. Furthermore, we examine methods for enhancing the robustness of 3DGS-SLAM in complex environments such as motion blur and dynamic environments. Finally, we discuss future challenges and development trends in this area. This survey aims to provide a technical reference for researchers and foster the development of next-generation SLAM systems characterized by high fidelity, efficiency, and robustness.
Problem
Research questions and friction points this paper is trying to address.
SLAM
3D Gaussian Splatting
robustness
rendering quality
dynamic environments
Innovation
Methods, ideas, or system contributions that make the work stand out.
3D Gaussian Splatting
SLAM
robustness
rendering quality
dynamic environments
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